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Nonlinear trajectory tracking control of underactuated AUVs using the state-dependent Riccati equation (SDRE) with parameter perturbation

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Abstract

This paper deals with a novel direct state-dependent Riccati equation (SDRE) controller designed for trajectory tracking of underactuated autonomous underwater vehicles (AUVs) in the presence of parameter perturbation. Despite the traditional SDRE regulator control, the proposed closed-loop SDRE controller design chiefly consists of two parts. First, by selecting a virtual reference point in front of the AUV system as the tracking output, the error variable control model in the earth-fixed reference frame is described. Second, the position errors are driven to the origin by introducing an integral model of first-order fed by the tracking error. The main advantage of the proposed control scheme is that the controller has a unified structure. Moreover, the algorithm is able to provide robustness with parameter perturbation because of its intrinsic robustness capability. Within the SDRE framework, the asymptotic stability of the closed-loop tracking system is also guaranteed. The robustness and effectiveness of the proposed methodology are verified by performing simulation experiments on an underactuated AUV.

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Funding

This work was supported by the Education and Scientific Research Project of Fujian Provincial Department of Finance [Grant Numbers GY-Z22010, GY-Z22011], the Marine economic development project of Fujian Province [Grant Number FUHJF-L-2022-16], and the Key scientific and technological innovation projects of Fujian Province [Grant Number 2022G02008].

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Authors and Affiliations

  1. State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle, Hunan University, Changsha, 410082, Hunan, China

    Bangshuai Li & Hongwu Huang

  2. Institute of Smart Marine and Engineering, Fujian University of Technology, Fuzhou, 350108, Fujian, China

    Bangshuai Li, **u**g Gao & Hongwu Huang

  3. School of Aerospace Engineering, **amen University, **amen, 361000, Fujian, China

    Hongwu Huang & Huibao Yang

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  1. Bangshuai Li
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  2. **u**g Gao
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  3. Hongwu Huang
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  4. Huibao Yang
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Contributions

All authors contributed to the study conception and design. Conceptualization, methodology, investigation and visualization were performed by [BL] and [XG]. Project administration and funding acquisition were performed by [HH]. Software and validation were performed by [HY]. The first draft of the manuscript was written by [BL], and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to **u**g Gao.

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Li, B., Gao, X., Huang, H. et al. Nonlinear trajectory tracking control of underactuated AUVs using the state-dependent Riccati equation (SDRE) with parameter perturbation. Nonlinear Dyn 111, 18027–18041 (2023). https://doi.org/10.1007/s11071-023-08778-z

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